Urban road intelligent guiding system and method based on model cooperation technology

Abstract

The invention discloses an urban road intelligent guiding system and method based on a model cooperation technology, and relates to the technical field of road intelligent guiding, and the method comprises the steps: obtaining an urban road used for analysis, a limit road width curve, and a passable vehicle width; obtaining a parallelizable pass combination; the limit passing road width and the parallelizable passing combination are analyzed based on model cooperation, and the vehicle is guided based on the analysis result; the method is used for solving the problems that in an existing intelligent guiding system for urban roads, only the road passing efficiency is considered and the road width is not considered when a vehicle is guided to change lanes, so that whether the actual driving road width is narrowed after the vehicle changes lanes cannot be judged, and if the road is narrowed, the vehicle is still guided to change lanes; and the problem that vehicle passing is affected and even congestion is caused after the vehicle changes the lane can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent road guidance, and in particular to an urban road intelligent guidance system and method based on model collaboration technology. Background Art

[0002] Intelligent guidance of urban roads refers to the intelligent management and guidance of urban road traffic through the application of advanced communication, computer and sensor technologies, so as to improve traffic efficiency, reduce congestion and enhance travel experience; its main functions include intelligent signal control, route optimization, parking management and security monitoring; the intelligent guidance system can intelligently guide and adjust the routes of special vehicles or special service fleets to minimize the impact on roads and reduce manpower consumption.

[0003] Existing intelligent guidance methods for urban roads are usually improvements in signal coordination control. By analyzing real-time traffic conditions, providing reasonable coordination optimization solutions, obtaining key intersections and allocating vehicle travel paths, a method of providing guidance for rapid passage of vehicles when the road is congested is achieved. Although this guidance method can improve the traffic efficiency of vehicles when the road is congested, if only the traffic efficiency of the road is considered when guiding the vehicle to change lanes without considering the road width, such as the presence of parked vehicles on both sides of the road or a large number of non-motor vehicles in the motor vehicle lane, the actual road width that the vehicle can travel on after changing lanes will become narrower. If the vehicle is still guided to change lanes at this time, the vehicle's passage will be affected and even congestion will be caused after the vehicle changes lanes. For example, in the patent application with publication number CN112289043A, it is disclosed An intelligent signal coordination control optimization method for urban roads. The scheme is to allocate adjacent intersections with similar cycles, appropriate spacing and related traffic to the same sub-area with key intersections as the center, reduce vehicle queues and delays at intersections within the sub-area under common cycles, and improve the effect of coordination control. Other improvements in intelligent guidance for urban roads are usually improvements that consider obstacles in the road and traffic constraints. This improvement method still cannot solve the problem of only considering road traffic efficiency but not road width when guiding vehicles to change lanes, resulting in the inability to judge whether the actual road width that the vehicle can travel on becomes narrower after changing lanes. If the vehicle is still guided to change lanes at this time, there will be problems such as affecting vehicle traffic after the vehicle changes lanes and even causing congestion. In view of this, it is necessary to improve the existing intelligent guidance system for urban roads. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the prior art to a certain extent. By proposing an urban road intelligent guidance system and method based on model collaboration technology, the present invention is used to solve the problem that in the existing intelligent guidance system for urban roads, only the road traffic efficiency is considered without considering the road width when guiding the vehicle to change lanes, resulting in an inability to judge whether the actual road width that the vehicle can travel on becomes narrower after the lane change. If the vehicle is still guided to change lanes at this time, the vehicle traffic will be affected after the lane change and even congestion will be caused.

[0005] To achieve the above objectives, in a first aspect, the present application provides an urban road intelligent guidance system based on model collaboration technology, including a vehicle road width analysis module, a road width occupancy analysis module and an intelligent guidance module; The vehicle road width analysis module is used to obtain urban roads for analysis, analyze the road width of urban roads and the types of vehicles on urban roads, and obtain the limit road width curve, passable model and passable vehicle width based on the analysis results; The road width occupancy analysis module is used to analyze the extreme road width curve and the passable vehicle width, and obtain the parallel passable combinations corresponding to all passable vehicle models based on the analysis results; The intelligent guidance module is used to analyze the extreme road width curve of the road ahead and the combination in parallel based on the model collaboration when the vehicle is driving, and guide the vehicle based on the analysis results.

[0006] Furthermore, the vehicle road width analysis module includes a vehicle road width analysis unit, and the vehicle road width analysis unit is configured with a vehicle road width analysis strategy, and the vehicle road width analysis strategy includes: The urban road used for analysis is recorded as the guide road; the starting point and the end point of the guide road are recorded as the guide starting point and the guide end point respectively; the two sides of the driving direction of the guide road are recorded as the positioning side and the distance measurement side respectively, and the length from the guide starting point to the guide end point on the positioning side is recorded as the guide road length; For any point A on the positioning side, draw a straight line perpendicular to the positioning side from point A, and record the intersection of the straight line and the distance measuring side as point B, and record the distance between point A and point B as the road width of point A; establish a plane rectangular coordinate system, recorded as the road width analysis coordinate system, where the units of the X-axis and Y-axis of the road width analysis coordinate system are both meters; draw a scatter plot in the road width analysis coordinate system based on the road width of all points on the positioning side and the distance between all points on the positioning side and the guidance starting point, where for any point A in the scatter plot, the horizontal coordinate of point A is the distance between point A on the positioning side and the guidance starting point, and the vertical coordinate of point A is the road width of point A; The scatter plot is fitted into a curve and recorded as the limiting road width curve.

[0007] Furthermore, the vehicle road width analysis strategy also includes: Based on the vehicle restriction system of the guide road, the models of all vehicles that can travel on the guide road are obtained, and they are recorded as passable models respectively; the shortest distance allowed between the vehicle body and the edge of the road on the guide road is obtained, and it is recorded as the shortest safety distance; for any vehicle corresponding to a passable model, the sum of the vehicle width and the shortest safety distance is recorded as the passable vehicle width of the vehicle.

[0008] Furthermore, the road width occupancy analysis module includes a road width occupancy analysis unit, and the road width occupancy analysis unit is configured with a road width occupancy analysis strategy, and the road width occupancy analysis strategy includes: The number of passable models is recorded as r, and all passable models are recorded as passable models KT 1 Available through model KT r ; Create a table of (r+1) rows × (r+1) columns and record it as a parallel analysis table. In the top row of the parallel analysis table, except for the first cell, fill in the cells from left to right that can be obtained by model KT 1 Available through model KT r , except for the first cell in the leftmost column, fill in the cells from top to bottom in order. 1 Available through model KT r ; The number of lanes in the guide road is recorded as n. For any cell in the leftmost column of the parallel analysis table, the model KT r1 , will be available through Model KT r1 The row in which it is located is recorded as the analysis row; for any cell from the 2nd cell to the r+1th cell from left to right in the analysis row, the model KT r1 The corresponding passable vehicle width is recorded as the basic vehicle width, and the passable vehicle width corresponding to the passable model KT in the first cell in the column where the cell is located is recorded as the additional vehicle width of the cell.

[0009] Furthermore, the road width occupancy analysis strategy also includes: For any (n-1) cells R from the 2nd cell to the r+1th cell from left to right in the analysis row 1 To R n-1 , R 1 To R n-1 The combination of the first cell in the column where the model KT is located is recorded as the maximum parallel combination; all the different maximum parallel combinations in the analysis row are recorded as the combination to be screened DS 1 To the combination to be screened DS k , where there can be multiple identical cells in the same combination DS to be screened; For any combination DS to be screened k1 , use the parallel width algorithm to obtain the combination DS to be screened k1 The maximum parallel width, the parallel width algorithm is: , where F is the maximum parallel width, f 0 is the basic vehicle width, f i DS is the combination to be screened k1 The additional vehicle width of the i-th cell in the y-th cell; draw a straight line with y = maximum parallel width in the road width analysis coordinate system and record it as the parallel straight line, record the range of the horizontal coordinates corresponding to the extreme road width curve below the parallel straight line as the range not allowed to pass, and record the range of the horizontal coordinates corresponding to the extreme road width curve above the parallel straight line as the range allowed to pass.

[0010] Furthermore, the road width occupancy analysis strategy also includes: The road corresponding to the length of the middle distance from the starting point of the guidance on the positioning side within the range not allowed to pass is recorded as an impassable road; the road corresponding to the length of the middle distance from the starting point of the guidance on the positioning side within the range allowed to pass is recorded as a passable road; Obtain the impassable roads and passable roads corresponding to all the combinations to be screened DS, and record the combinations to be screened DS whose passable roads have a length greater than 0 as combinations that can be passed in parallel.

[0011] Furthermore, the intelligent guidance module includes an intelligent guidance unit, and the intelligent guidance unit is configured with an intelligent guidance strategy, and the intelligent guidance strategy includes: When a vehicle is traveling on a guide road, the guiding vehicle is recorded as the guide vehicle; based on the dimension data of the guide vehicle and the dimension data of the guide road, the model is used to collaboratively update the position of the guide vehicle on the guide road in real time, and a vertical line is drawn from the front end of the guide vehicle to the positioning side, and the distance between the foot of the vertical line and the positioning starting point is recorded as the real-time driving distance; The point whose horizontal coordinate is the real-time driving distance in the extreme road width curve of the road width analysis coordinate system is recorded as the real-time driving point.

[0012] Furthermore, the intelligent guidance strategy also includes: When the leading vehicle needs to change lanes, the number of vehicles in front of the leading vehicle is obtained in real time based on the vehicle sensor. When the number of vehicles is less than n-1, the lane change guidance continues; when the number of vehicles is greater than n-1, the lane change guidance is cancelled; When the number of vehicles is equal to n-1, if the combination of passable models KT corresponding to all vehicles in front of the guiding vehicle is different from all parallel passable combinations, the lane change guidance is canceled.

[0013] Furthermore, the intelligent guidance strategy also includes: When the number of vehicles is equal to n-1 and the combination of passable models KT corresponding to all vehicles in front of the guiding vehicle is the same as any parallel passable combination α, obtain the allowed passing range and the not allowed passing range corresponding to the parallel passable combination α; when the real-time driving point is within the allowed passing range of the parallel passable combination α, continue to provide lane change guidance; when the real-time driving point is within the allowed passing range of the non-parallel passable combination α, cancel the lane change guidance.

[0014] In the second aspect, the present application also provides an urban road intelligent guidance method based on model collaboration technology, including: Step S1, obtaining an urban road for analysis, analyzing the road width of the urban road and the types of vehicles on the urban road, and obtaining a limit road width curve and a passable vehicle width based on the analysis results; Step S2, analyzing the limit road width curve and the passable vehicle width, and obtaining the parallel passable combinations corresponding to all vehicle types based on the analysis results; Step S3, based on the model collaboration, analyze the maximum passing road width and the parallel passing combination of the road ahead when the vehicle is traveling, and guide the vehicle based on the analysis result.

[0015] Beneficial effects of the present invention: The present application first obtains the urban roads for analysis, analyzes the road width of the urban roads and the types of vehicles on the urban roads, and obtains the limit road width curve and the passable vehicle width based on the analysis results. The advantage of this is that by obtaining the limit road width curve and the passable vehicle width, the maximum width that can be allowed to pass at each point in the guide road and the vehicle width occupied by vehicles that can travel on the guide road can be obtained, which is helpful for judging whether the vehicle can be allowed to pass after changing lanes in the subsequent analysis, and preventing the problem of affecting vehicle traffic or causing congestion due to the inability of the vehicle to travel normally after changing lanes; Then, the extreme road width curve and the passable vehicle width are analyzed, and the parallel passable combinations corresponding to all types of vehicles are obtained based on the analysis results; finally, based on the model collaboration, the extreme passable road width and the parallel passable combinations of the road ahead are analyzed when the vehicle is driving, and the vehicle is guided based on the analysis results. The advantage of this is that by obtaining the parallel passable combinations and guiding the vehicle based on the model collaboration, the road width allowed to pass after the lane change can be effectively judged when guiding the vehicle to change lanes, ensuring that there is enough road width allowed to pass after the vehicle changes lanes, thereby preventing the problem of affecting vehicle traffic or causing congestion due to the inability of the vehicle to drive normally after changing lanes. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a flow chart of the steps of the method of the present invention; Figure 2 is a functional block diagram of the system of the present invention; Figure 3 is a schematic diagram of a guide road of the present invention; Figure 4 It is a schematic diagram of a scatter plot in the road width analysis coordinate system of the present invention; Figure 5 It is a schematic diagram of a limit road width curve in the road width analysis coordinate system of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Example 1, first aspect, please refer to Figure 1 As shown, the present application provides an urban road intelligent guidance method based on model collaboration technology, including: Step S1, obtaining an urban road for analysis, analyzing the road width of the urban road and the types of vehicles on the urban road, and obtaining a limit road width curve and a passable vehicle width based on the analysis results; Step S1 includes the following sub-steps: Step S101, record the urban road for analysis as the guide road; record the starting point and the end point of the guide road as the guide starting point and the guide end point respectively; record the two sides of the driving direction of the guide road as the positioning side and the distance measurement side respectively, and record the length from the guide starting point to the guide end point on the positioning side as the guide road length; in the specific implementation process, for example, in the specific implementation, the guide road is as follows Figure 3 As shown, area QQ1 is the guide road, QQ2 is the guide starting point, QQ3 is the guide end point, QQ4 is the positioning side, and QQ5 is the distance measurement side; by determining the guide starting point and the guide end point, it is helpful to locate the position of the vehicle when it is traveling on the guide road in subsequent analysis; by determining the distance measurement side and the positioning side, it is helpful to obtain the road width of each position in the guide road, thereby helping to provide data support for subsequent analysis; Step S102: for any point A on the positioning side, draw a straight line perpendicular to the positioning side from point A, and record the intersection of the straight line and the distance measuring side as point B, and record the distance between point A and point B as the road width of point A; establish a plane rectangular coordinate system, recorded as the road width analysis coordinate system, wherein the units of the X-axis and the Y-axis of the road width analysis coordinate system are both meters; draw a scatter plot in the road width analysis coordinate system based on the road widths of all points on the positioning side and the distances between all points on the positioning side and the guidance starting point, wherein, for any point A in the scatter plot, the abscissa of point A is the distance between point A on the positioning side and the guidance starting point, and the ordinate of point A is the road width of point A; In the specific implementation process, for example, in a data processing, a scatter plot in the road width analysis coordinate system is obtained as follows Figure 3 As shown in TT1 in the figure, after fitting the scatter plot in TT1, the limit road width curve is obtained as follows: Figure 4 As shown by the curve TT3 in TT2; by obtaining the extreme road width curve, the road width of each position in the guide road can be visualized, which is helpful for effective guidance based on the road width of the vehicle's position when guiding the vehicle to change lanes later; Step S103, fitting the scatter plot into a curve and recording it as a limit road width curve; Step S104, based on the vehicle restriction system of the guide road, obtain the models of all vehicles that can travel on the guide road, and record them as passable models; obtain the shortest distance allowed between the vehicle body and the edge of the road in the guide road, and record it as the shortest safety distance; for any vehicle corresponding to a passable model, record the sum of the vehicle width and the shortest safety distance as the passable vehicle width of the vehicle; in the specific implementation process, the shortest safety distance can be set according to the actual road conditions. When there are parked vehicles on both sides of the road or there are many non-motor vehicles in the motor vehicle lane, the safety of the vehicle after changing lanes can be improved by increasing the shortest safety distance. In this embodiment, the shortest safety distance is set to 30cm.

[0019] Step S2, analyzing the limit road width curve and the passable vehicle width, and obtaining the parallel passable combinations corresponding to all vehicle types based on the analysis results; Step S2 includes the following sub-steps: Step S201, record the number of passable models as r, and record all passable models as passable models KT in sequence. 1 Available through model KT r ; Create a table of (r+1) rows × (r+1) columns and record it as a parallel analysis table. In the top row of the parallel analysis table, except for the first cell, fill in the cells from left to right that can be obtained by model KT 1 Available through model KT r , except for the first cell in the leftmost column, fill in the cells from top to bottom in order. 1 Available through model KTr ; In the specific implementation process, the passable model can be different models of the same car, for example, X1, X2, X3, X4 and X5 in the X model can be respectively recorded as a passable model KT; for example, during the analysis, the obtained parallel analysis table is shown in Table 1: Parallel analysis table; Table 1: Parallel analysis table X1 X2 X3 X4 X5 X1 X2 X3 DD1 DD2 X4 X5 At the same time, the number of lanes in the guide lane is obtained through data acquisition, which is 3, so the value of n is 3; Step S202: record the number of lanes in the guide road as n. For any cell in the leftmost column of the parallel analysis table, the model KT r1 , will be available through Model KT r1 The row in which it is located is recorded as the analysis row; for any cell from the 2nd cell to the r+1th cell from left to right in the analysis row, the model KT r1 The corresponding passable vehicle width is recorded as the basic vehicle width, and the passable vehicle width corresponding to the passable model KT in the first cell in the column where the cell is located is recorded as the additional vehicle width of the cell; in specific implementation, for any cell "X3" in the leftmost column of Table 1: Parallel Analysis Table, the row where "X3" is located is recorded as the analysis row, then for the cell DD1 in the analysis row, the value of the vehicle width of "X3" 177cm plus the shortest safety distance 30cm is recorded as the basic vehicle width of the cell DD1, that is, 207cm meters, and the value of the vehicle width of "X2" 195cm plus the shortest safety distance 30cm is recorded as the additional vehicle width of the cell DD1, that is, 225cm; by obtaining the basic vehicle width and additional vehicle width corresponding to each cell, it is helpful to provide data support when calculating the maximum parallel width through the parallel width algorithm in the subsequent calculation, so that the calculation result is more accurate; Step S203: for any (n-1) cells R from the 2nd cell to the r+1th cell from left to right in the analysis row 1 To R n-1 , R 1 To R n-1 The combination of the first cell in the column where the model KT is located is recorded as the maximum parallel combination; all the different maximum parallel combinations in the analysis row are recorded as the combination to be screened DS 1 To the combination to be screened DS k , where there can be multiple identical cells in the same combination DS to be screened; Step S204: for any combination DS to be screened k1 , use the parallel width algorithm to obtain the combination DS to be screened k1 The maximum parallel width, the parallel width algorithm is: , where F is the maximum parallel width, f 0 is the basic vehicle width, fi DS is the combination to be screened k1 The additional vehicle width of the i-th cell in the road width analysis coordinate system is drawn with y = maximum parallel width, and recorded as a parallel straight line. The range of the horizontal coordinates corresponding to the extreme road width curve below the parallel straight line is recorded as the range not allowed to pass, and the range of the horizontal coordinates corresponding to the extreme road width curve above the parallel straight line is recorded as the range allowed to pass. In the specific implementation process, for example, in a data processing, the value of n is 3, and the combination DS to be screened k1 Table 1: Parallel analysis of cells DD1 and DD2 in the table, the combination to be screened DS can be obtained by calculation k1 The corresponding maximum parallel vehicle width is 177cm+207cm+225cm, which is 609cm. This means that when vehicle "X3" changes lanes and the vehicles in front of vehicle "X3" are "X3" and "X2", the width of the road ahead must be at least 609cm to change lanes safely. Step S205, the road corresponding to the length of the middle distance of the positioning side guide starting point in the range of not allowing to pass is recorded as an impassable road; the road corresponding to the length of the middle distance of the positioning side guide starting point in the range of allowing to pass is recorded as a passable road; in the specific implementation process, when the length of the middle distance of the positioning side guide starting point is the road corresponding to the range of not allowing to pass, it means that the combination DS to be screened in this road k1 The corresponding vehicles cannot run in parallel, and changing lanes may cause safety hazards, so it should be marked as an impassable road; Step S206, obtaining the impassable roads and passable roads corresponding to all the to-be-screened combinations DS, and recording the to-be-screened combinations DS whose passable roads have a length greater than 0 as parallel passable combinations.

[0020] Step S3, based on the model collaboration, analyzes the maximum passable road width and the parallel passable combination of the road ahead when the vehicle is traveling, and guides the vehicle based on the analysis result; Step S301, including the following sub-steps: Step S301, when a vehicle is traveling on a guide road, the guiding vehicle is recorded as a guide vehicle; based on the dimension data of the guide vehicle and the dimension data of the guide road, the model is used to collaboratively update the position of the guide vehicle on the guide road in real time, and a vertical line is drawn from the front end of the guide vehicle to the positioning side, and the distance between the foot of the vertical line and the positioning starting point is recorded as the real-time driving distance; Step S302, recording the point whose horizontal coordinate is the real-time driving distance in the extreme road width curve of the road width analysis coordinate system as the real-time driving point; in the specific implementation process, by obtaining the real-time driving point based on the real-time driving distance, it is possible to ensure that the real-time position of the guiding vehicle can be obtained when performing lane change guidance, so as to perform accurate lane change guidance; Step S303, when the leading vehicle needs to change lanes, the number of vehicles in front of the leading vehicle is obtained in real time based on the vehicle sensor. When the number of vehicles is less than n-1, the lane change guidance is continued; when the number of vehicles is greater than n-1, the lane change guidance is cancelled; Step S304, when the number of vehicles is equal to n-1, if the combination of passable models KT corresponding to all vehicles in front of the guiding vehicle is different from all the parallel passable combinations, the lane change guidance is canceled; in the specific implementation process, for example, in one data processing, the value of n is 3 and the number of vehicles is 2, and the combination of passable models KT corresponding to all vehicles in front of the vehicle obtained by the vehicle sensor is "X3" and "X2", and the parallel passable combination α is "X3" and "X2", and at the same time, when the real-time driving point is within the allowable pass range of the parallel passable combination α, it means that the road width of the road ahead allows the guiding vehicle to drive safely after changing lanes, and then the lane change guidance can be performed; Step S305, when the number of vehicles is equal to n-1 and the combination of passable models KT corresponding to all vehicles in front of the guiding vehicle is the same as any parallel passable combination α, obtain the allowed passing range and the not allowed passing range corresponding to the parallel passable combination α; when the real-time driving point is within the allowed passing range of the parallel passable combination α, continue the lane change guidance; when the real-time driving point is within the allowed passing range of the non-parallel passable combination α, cancel the lane change guidance.

[0021] Example 2, second aspect, please refer to Figure 2 As shown, the present application also provides an urban road intelligent guidance system based on model collaboration technology, including a vehicle road width analysis module, a road width occupancy analysis module and an intelligent guidance module; The vehicle road width analysis module is used to obtain urban roads for analysis, analyze the road width of urban roads and the types of vehicles on urban roads, and obtain the limit road width curve, passable model and passable vehicle width based on the analysis results; The vehicle road width analysis module includes a vehicle road width analysis unit, which is configured with a vehicle road width analysis strategy. The vehicle road width analysis strategy includes: recording the urban road used for analysis as a guide road; recording the starting point and the end point of the guide road as a guide starting point and a guide end point respectively; recording the two sides of the driving direction of the guide road as a positioning side and a ranging side respectively, and recording the length from the guide starting point to the guide end point in the positioning side as the guide road length; For any point A on the positioning side, draw a straight line perpendicular to the positioning side from point A, and record the intersection of the straight line and the distance measuring side as point B, and record the distance between point A and point B as the road width of point A; establish a plane rectangular coordinate system, recorded as the road width analysis coordinate system, where the units of the X-axis and Y-axis of the road width analysis coordinate system are both meters; draw a scatter plot in the road width analysis coordinate system based on the road width of all points on the positioning side and the distance between all points on the positioning side and the guidance starting point, where for any point A in the scatter plot, the horizontal coordinate of point A is the distance between point A on the positioning side and the guidance starting point, and the vertical coordinate of point A is the road width of point A; Fit the scatter plot into a curve and record it as the limit road width curve; Based on the vehicle restriction system of the guide road, the models of all vehicles that can travel on the guide road are obtained, and they are recorded as passable models respectively; the shortest distance allowed between the vehicle body and the edge of the road on the guide road is obtained, and it is recorded as the shortest safety distance; for any vehicle corresponding to a passable model, the sum of the vehicle width and the shortest safety distance is recorded as the passable vehicle width of the vehicle.

[0022] The road width occupancy analysis module is used to analyze the extreme road width curve and the passable vehicle width, and obtain the parallel passable combinations corresponding to all passable models based on the analysis results; the road width occupancy analysis module includes a road width occupancy analysis unit, and the road width occupancy analysis unit is configured with a road width occupancy analysis strategy, which includes: The number of passable models is recorded as r, and all passable models are recorded as passable models KT 1 Available through model KT r ; Create a table of (r+1) rows × (r+1) columns and record it as a parallel analysis table. In the top row of the parallel analysis table, except for the first cell, fill in the cells from left to right that can be obtained by model KT 1 Available through model KT r , except for the first cell in the leftmost column, fill in the cells from top to bottom in order. 1 Available through model KT r ; The number of lanes in the guide road is recorded as n. For any cell in the leftmost column of the parallel analysis table, the model KT r1 , will be available through Model KT r1 The row in which it is located is recorded as the analysis row; for any cell from the 2nd cell to the r+1th cell from left to right in the analysis row, the model KT r1 The corresponding passable vehicle width is recorded as the basic vehicle width, and the passable vehicle width corresponding to the passable model KT in the first cell of the column where the cell is located is recorded as the additional vehicle width of the cell; For any (n-1) cells R from the 2nd cell to the r+1th cell from left to right in the analysis row 1To R n-1 , R 1 To R n-1 The combination of the first cell in the column where the model KT is located is recorded as the maximum parallel combination; all the different maximum parallel combinations in the analysis row are recorded as the combination to be screened DS 1 To the combination to be screened DS k , where there can be multiple identical cells in the same combination DS to be screened; For any combination DS to be screened k1 , use the parallel width algorithm to obtain the combination DS to be screened k1 The maximum parallel width, the parallel width algorithm is: , where F is the maximum parallel width, f 0 is the basic vehicle width, f i DS is the combination to be screened k1 The additional vehicle width of the ith cell in the y-th cell is drawn; a straight line y = maximum parallel width is drawn in the road width analysis coordinate system and recorded as a parallel straight line, the range of the horizontal coordinates corresponding to the extreme road width curve below the parallel straight line is recorded as a range that is not allowed to pass, and the range of the horizontal coordinates corresponding to the extreme road width curve above the parallel straight line is recorded as a range that is allowed to pass; The road corresponding to the length of the middle distance from the starting point of the guidance on the positioning side within the range not allowed to pass is recorded as an impassable road; the road corresponding to the length of the middle distance from the starting point of the guidance on the positioning side within the range allowed to pass is recorded as a passable road; Obtain the impassable roads and passable roads corresponding to all the combinations to be screened DS, and record the combinations to be screened DS whose passable roads have a length greater than 0 as combinations that can be passed in parallel.

[0023] The intelligent guidance module is used to analyze the extreme road width curve of the road ahead and the combination of the parallel paths based on the model collaboration when the vehicle is driving, and guide the vehicle based on the analysis results; the intelligent guidance module includes an intelligent guidance unit, and the intelligent guidance unit is configured with an intelligent guidance strategy, which includes: When a vehicle is traveling on a guide road, the guiding vehicle is recorded as the guide vehicle; based on the dimension data of the guide vehicle and the dimension data of the guide road, the model is used to collaboratively update the position of the guide vehicle on the guide road in real time, and a vertical line is drawn from the front end of the guide vehicle to the positioning side, and the distance between the foot of the vertical line and the positioning starting point is recorded as the real-time driving distance; The point whose abscissa is the real-time driving distance in the limit road width curve of the road width analysis coordinate system is recorded as the real-time driving point; When the leading vehicle needs to change lanes, the number of vehicles in front of the leading vehicle is obtained in real time based on the vehicle sensor. When the number of vehicles is less than n-1, the lane change guidance continues; when the number of vehicles is greater than n-1, the lane change guidance is cancelled; When the number of vehicles is equal to n-1, if the combination of passable models KT corresponding to all vehicles in front of the guiding vehicle is different from all the combinations that can pass in parallel, the lane change guidance is canceled; When the number of vehicles is equal to n-1 and the combination of passable models KT corresponding to all vehicles in front of the guiding vehicle is the same as any parallel passable combination α, obtain the allowed passing range and the not allowed passing range corresponding to the parallel passable combination α; when the real-time driving point is within the allowed passing range of the parallel passable combination α, continue to provide lane change guidance; when the real-time driving point is within the allowed passing range of the non-parallel passable combination α, cancel the lane change guidance.

[0024] Working principle: First, obtain the urban roads for analysis, and analyze the road width of the urban roads and the types of vehicles on the urban roads. Based on the analysis results, obtain the maximum road width curve and the passable vehicle width. Then, analyze the maximum road width curve and the passable vehicle width, and obtain the parallel passable combinations corresponding to all vehicle types based on the analysis results. Finally, based on the model collaboration, analyze the maximum passable road width and the parallel passable combination of the road ahead when the vehicle is driving, and guide the vehicle based on the analysis results.

[0025] Through the description of the above implementation methods, the embodiments of the present invention can be provided as methods, systems or computer program products. Based on such an understanding, the above technical solutions can be essentially or partly contributed to the prior art in the form of software products, which can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and include several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0026] In the embodiments provided in the present application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of systems, modules and units can be electrical, mechanical or other forms.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. The urban road intelligent guidance system based on model collaborative technology is characterized by: It includes vehicle road width analysis module, road width occupancy analysis module and intelligent guidance module; The vehicle road width analysis module is used to obtain urban roads for analysis, analyze the road width of urban roads and the types of vehicles on urban roads, and obtain the limit road width curve, passable model and passable vehicle width based on the analysis results; The road width occupancy analysis module is used to analyze the extreme road width curve and the passable vehicle width, and obtain the parallel passable combinations corresponding to all passable vehicle models based on the analysis results; The intelligent guidance module is used to analyze the extreme road width curve of the road ahead and the combination in parallel based on the model collaboration when the vehicle is driving, and guide the vehicle based on the analysis results.

2. The urban road intelligent guidance system based on model collaborative technology according to claim 1 is characterized in that: The vehicle road width analysis module includes a vehicle road width analysis unit, and the vehicle road width analysis unit is configured with a vehicle road width analysis strategy. The vehicle road width analysis strategy includes: The urban road used for analysis is recorded as the guide road; the starting point and the end point of the guide road are recorded as the guide starting point and the guide end point respectively; the two sides of the driving direction of the guide road are recorded as the positioning side and the distance measurement side respectively, and the length from the guide starting point to the guide end point on the positioning side is recorded as the guide road length; For any point A on the positioning side, draw a straight line perpendicular to the positioning side from point A, and record the intersection of the straight line and the distance measuring side as point B, and record the distance between point A and point B as the road width of point A; establish a plane rectangular coordinate system, recorded as the road width analysis coordinate system, where the units of the X-axis and Y-axis of the road width analysis coordinate system are both meters; draw a scatter plot in the road width analysis coordinate system based on the road width of all points on the positioning side and the distance between all points on the positioning side and the guidance starting point, where for any point A in the scatter plot, the horizontal coordinate of point A is the distance between point A on the positioning side and the guidance starting point, and the vertical coordinate of point A is the road width of point A; The scatter plot is fitted into a curve and recorded as the limiting road width curve.

3. The urban road intelligent guidance system based on model collaborative technology according to claim 2 is characterized in that: Vehicle width analysis strategies also include: Based on the vehicle restriction system of the guide road, the models of all vehicles that can travel on the guide road are obtained, and they are recorded as passable models respectively; the shortest distance allowed between the vehicle body and the edge of the road on the guide road is obtained, and it is recorded as the shortest safety distance; for any vehicle corresponding to a passable model, the sum of the vehicle width and the shortest safety distance is recorded as the passable vehicle width of the vehicle.

4. The urban road intelligent guidance system based on model collaborative technology according to claim 3 is characterized in that: The road width occupancy analysis module includes a road width occupancy analysis unit. The road width occupancy analysis unit is configured with a road width occupancy analysis strategy. The road width occupancy analysis strategy includes: The number of passable models is recorded as r, and all passable models are recorded as passable model KT1 to passable model KT r ; Create a table with (r+1) rows × (r+1) columns and record it as a parallel analysis table. In the top row of the parallel analysis table, except for the first cell, fill in the cells that can be passed through model KT1 to KT1 from left to right. r , except for the first cell in the leftmost column, fill in the available models KT1 to KT from top to bottom. r ; The number of lanes in the guide road is recorded as n. For any cell in the leftmost column of the parallel analysis table, the model KT r1 , will be available through Model KT r1 The row in which it is located is recorded as the analysis row; for any cell from the 2nd cell to the r+1th cell from left to right in the analysis row, the model KT r1 The corresponding passable vehicle width is recorded as the basic vehicle width, and the passable vehicle width corresponding to the passable model KT in the first cell in the column where the cell is located is recorded as the additional vehicle width of the cell.

5. The urban road intelligent guidance system based on model collaborative technology according to claim 4 is characterized in that: Road width occupancy analysis strategies also include: For any (n-1) cells R1 to R2 from left to right in the analysis row, n-1 , change R1 to R n-1 The combination of the first cell in the column where the model KT is located is recorded as the maximum parallel combination; all the different maximum parallel combinations in the analysis row are recorded as the combination to be screened DS1 to the combination to be screened DS k , where there can be multiple identical cells in the same combination DS to be screened; For any combination DS to be screened k1 , use the parallel width algorithm to obtain the combination DS to be screened k1 The maximum parallel width, the parallel width algorithm is: , where F is the maximum parallel width, f0 is the basic vehicle width, and f i DS is the combination to be screened k1 The additional vehicle width of the i-th cell in the y-th cell; draw a straight line with y = maximum parallel width in the road width analysis coordinate system and record it as the parallel straight line, record the range of the horizontal coordinates corresponding to the extreme road width curve below the parallel straight line as the range not allowed to pass, and record the range of the horizontal coordinates corresponding to the extreme road width curve above the parallel straight line as the range allowed to pass.

6. The urban road intelligent guidance system based on model collaborative technology according to claim 5 is characterized in that: Road width occupancy analysis strategies also include: The road corresponding to the length of the middle distance from the starting point of the guidance on the positioning side within the range not allowed to pass is recorded as an impassable road; the road corresponding to the length of the middle distance from the starting point of the guidance on the positioning side within the range allowed to pass is recorded as a passable road; Obtain the impassable roads and passable roads corresponding to all the combinations to be screened DS, and record the combinations to be screened DS whose passable roads have a length greater than 0 as combinations that can be passed in parallel.

7. The urban road intelligent guidance system based on model collaborative technology according to claim 1 is characterized in that: The intelligent guidance module includes an intelligent guidance unit, and the intelligent guidance unit is configured with an intelligent guidance strategy, which includes: When a vehicle is traveling on a guide road, the guiding vehicle is recorded as the guide vehicle; based on the dimension data of the guide vehicle and the dimension data of the guide road, the model is used to collaboratively update the position of the guide vehicle on the guide road in real time, and a vertical line is drawn from the front end of the guide vehicle to the positioning side, and the distance between the foot of the vertical line and the positioning starting point is recorded as the real-time driving distance; The point whose horizontal coordinate is the real-time driving distance in the extreme road width curve of the road width analysis coordinate system is recorded as the real-time driving point.

8. The urban road intelligent guidance system based on model collaborative technology according to claim 1 is characterized in that: Smart guidance strategies also include: When the leading vehicle needs to change lanes, the number of vehicles in front of the leading vehicle is obtained in real time based on the vehicle sensor. When the number of vehicles is less than n-1, the lane change guidance continues; when the number of vehicles is greater than n-1, the lane change guidance is cancelled; When the number of vehicles is equal to n-1, if the combination of passable models KT corresponding to all vehicles in front of the guiding vehicle is different from all parallel passable combinations, the lane change guidance is canceled.

9. The urban road intelligent guidance system based on model collaborative technology according to claim 8 is characterized in that: Smart guidance strategies also include: When the number of vehicles is equal to n-1 and the combination of passable models KT corresponding to all vehicles in front of the guiding vehicle is the same as any parallel passable combination α, obtain the allowed passing range and the not allowed passing range corresponding to the parallel passable combination α; when the real-time driving point is within the allowed passing range of the parallel passable combination α, continue to provide lane change guidance; when the real-time driving point is within the allowed passing range of the non-parallel passable combination α, cancel the lane change guidance.

10. An urban road intelligent guidance method based on model collaborative technology, used to implement an urban road intelligent guidance system based on model collaborative technology as claimed in any one of claims 1 to 9, characterized in that: include: Step S1, obtaining an urban road for analysis, analyzing the road width of the urban road and the types of vehicles on the urban road, and obtaining a limit road width curve and a passable vehicle width based on the analysis results; Step S2, analyzing the limit road width curve and the passable vehicle width, and obtaining the parallel passable combinations corresponding to all vehicle types based on the analysis results; Step S3, based on the model collaboration, analyze the maximum passing road width and the parallel passing combination of the road ahead when the vehicle is traveling, and guide the vehicle based on the analysis result.

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